An incident that started with a Milwaukee man shooting at and missing a plain-clothed Milwaukee officer ended after a brief car-turned-foot chase and the arrests of two suspects.

The incident began about 8:10 p.m. Saturday near 26th and Auer Avenue, where the officer was conducting an investigation, according to a news release from police. A male suspect fired a gun at the officer, nearly striking him. The suspect hopped into a vehicle with another suspect and both fled the area.

Milwaukee Police pursued the suspects from 26th and Auer until the suspects crashed into a passing car near 12th and Lloyd Streets. After the crash, both suspects fled on foot and were eventually arrested without further incident, according to the news release.

The three people in the car that the suspects struck sustained minor injuries and were taken to a hospital.

Police recovered several guns from the suspects' vehicle.

No Milwaukee officers were injured during the shooting and subsequent pursuit. The suspects are 24 and 21 years old.

Both suspects were previously on probation and parole for armed robbery, according to the news release. Police continue to investigate the incident.